SpeedControl Class Reference

#include <speed.h>

Inheritance diagram for SpeedControl:

List of all members.

Public Member Functions
virtual void	adjust (float speed, float error, float *brake_req, float *throttle_req)=0
virtual void	configure (art_pilot::PilotConfig &newconfig)=0
virtual void	reset (void)=0
virtual void	set_brake_position (float position)
virtual void	set_throttle_position (float position)
	SpeedControl ()
Protected Attributes
float	brake_position_
ros::NodeHandle	node_
float	throttle_position_

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Detailed Description

Virtual base speed controller class

Definition at line 36 of file speed.h.

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Constructor & Destructor Documentation

SpeedControl::SpeedControl

(

)

[inline]

Definition at line 40 of file speed.h.

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Member Function Documentation

virtual void SpeedControl::adjust	(	float	speed,
		float	error,
		float *	brake_req,
		float *	throttle_req
	)		[pure virtual]

Adjust speed to match goal.

Parameters:

speed	absolute value of current velocity in m/sec
error	immediate goal minus speed
brake_req	-> previous brake request (input), updated brake request (output).
throttle_req	-> previous throttle request (input), updated throttle request (output).

Implemented in SpeedControlPID, SpeedControlMatrix, and LearnedSpeedControl.

virtual void SpeedControl::configure

(

art_pilot::PilotConfig &

newconfig

)

[pure virtual]

Configure controller parameters.

Implemented in SpeedControlPID, SpeedControlMatrix, and LearnedSpeedControl.

virtual void SpeedControl::reset

(

void

)

[pure virtual]

Reset speed controller.

Implemented in SpeedControlPID, SpeedControlMatrix, and LearnedSpeedControl.

virtual void SpeedControl::set_brake_position

(

float

position

)

[inline, virtual]

Definition at line 64 of file speed.h.

virtual void SpeedControl::set_throttle_position

(

float

position

)

[inline, virtual]

Definition at line 68 of file speed.h.

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Member Data Documentation

float SpeedControl::brake_position_ [protected]

Definition at line 76 of file speed.h.

ros::NodeHandle SpeedControl::node_ [protected]

Definition at line 75 of file speed.h.

float SpeedControl::throttle_position_ [protected]

Definition at line 77 of file speed.h.

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The documentation for this class was generated from the following file:

• speed.h